An Introduction to Robotics and Embedded System

Introduction to Robotics :

 Robotics is the study of the design,

construction and use of robots.

 These technology represent a practical

application of Physics, Computer Science,

Engineering and Mathematics .

 It provides a variety of Engineering Concepts.

 Every Automated systems can be stated as a

Robot.

Why do we need a Robot :

 To perform a Job accurately and efficiently.

 To perform a job safely.

 To achieve High Throughput (Work done per Unit time).

 To avoid mistakes.

 To perform a job continuously without getting tired.

 A robot never says “No, I’ll not do this job because it is

not interesting”.

 Actually, there are endless reasons for using Robots.

What is Robot :

"A reprogrammable, multifunctional manipulator

designed to move material, parts, tools, or specialized

devices through various programmed motions for the

performance of a variety of tasks“.

An automatic device that performs functions

normally ascribed to humans or a machine in the form

of a human.

So let’s start doing Robotics by
INVENTING THE TECHNOLOGY WE DESIRE !!!

How to Plan a Robot :

 It depends upon the requirements.

 We have to fix the environment for the Robot.

 For example, if we want a robot who will make coffee

than the materials required for that are known to Robot.

So that the Robot can take materials from there to

complete the Process. But if we are unable to do that

than we have to develop a robot, having the capabilities

for identifying the Objects.

How to understand the Logic of Robot :

 Let’s take an example of such a robot who will go to

market and buy vegetables. In this condition , the robot

has the capabilities of identifying the vegetables,

streets, available shortest path from the source to

destination etc.

Types of Robot :
 Industrial Robots :
-materials handling
-welding
-inspection
-improving productivity
-Laboratory applications

 Mobile Robots :
- Robots that move around on legs, tracks or wheels.
- In 1979 a nuclear accident in the USA caused a leak of radioactive material.
Led to production of special robot
-Teleoperator to handle the radioactive material.
 Educational Robots
 Domestic Robots

Current Scenario :
 A first particular new innovation in robot design is the open sourcing

of robot-projects.

 Currently, there are about 1 million industrial robots toiling around

the world, and Japan is the top country having high density of utilizing

robots in its manufacturing industry

 Certification

The Robotics Certification Standards Alliance (RCSA) is an

international robotics certification authority who confers various

industry and educational related robotics certifications.

Rules of Robotics (Asimov’s law of Robotics) :

 A robot may not injure a human being, or, through

inaction, allow a human being to come to harm

 A robot must obey orders given it by human beings,

except where such orders would conflict with the First Law.

 A robot must protect its own existence as long as such

protection does not conflict with the First or Second Law.

Zeroth Law :

 No robot may harm humanity or through inaction allow

humanity to come to harm.

Introduction to Basic Electronic Components
Used in Robot ….

The following are the basic electronic components we have to

use in a Robot :

- Resistor

- Capacitor

- Diodes

- Transistors

- Motors

- Power Supply

- Sensors

Resistor :
Resistors are the obstacles in the path of the electrons flowing in the

wire.

We use Resistor because :

 Limiting current to another component.

 Reducing voltage in some parts of the Circuit.

 Controlling the voltage / current flowing into another component.

 Protecting the inputs of sensitive components.

Types of Resistor :

Variable Resistor

Light Dependent Resistor

Circuit Symbol

Capacitor :
 Capacitor store electrons by attracting them to Positive Voltage.

 When the voltage is reduced or removed the electrons move disappear

off.

These are used for :

 Creating Timers.

 Smoothing out voltage.

 Blocking DC Current.

 Adjust Frequency.

Types of Capacitor :

Electrolytic Capacitor

Ceramic Capacitor

Diodes :
Diode is a two terminal electronic component that conducts electric
current in only one direction.
Types of Diode :

Silicon P-N Junction Diode :

Light Emitting Diode

Photo Diode

Anode Cathode

Transistors :
Transistors are a kind of Switches. We can control the switch using
voltage on base pin.
The transistors we are using are : P-N-P , N-P-N , Phototransistor

N-P-N Photo Transistor

+V

Infrared
Photo Transistor

+Vout
θ

Resistor
(~ 10 K)

Working of 2N2222 (NPN) Transistor IR Sensor circuit by Phototransistor

Motors :
Motors are used to provide the motion to machine directly.
There are four types of Motors :

DC Motor DC Geared Motor

Stepper Motor Servo Motor

Power Supply / Source :
 In Robotics we use 12 V and 1 A power supply generally but it can
vary up to 12 V and 5 A.
 It depends upon the Circuit Requirements.
 We can use the Voltage Regulator to increase or decrease the value of
Voltage as per the requirement.

7805 Voltage Regulator

Sensors :
 Sensors are the devices which are used to sense the changes that occur
in their surroundings.
Types of Sensors :

IR Sensor :
 There is one emitter and one detector.
 Emitter emits IR rays and the detector detects it.
 Black LED is an emitter and White LED is the Photo Diode.
 It consists three components : IR LED, Photo Diode, Op-Amp (LM358 IC).

IR LED
Photo Diode

IR
LED
Op-Amp
(LM358) Three Pin Photo
Connector Diode

Indicator
Potentiometer
LED

Working of Sensor :

 Black LED generating IR rays and

these rays are reflected by the surface.

(If the surface is black than it will

absorb the Light)

 The Photodiode senses the light and

indicator LED shows the result that

whether there is an object or not.

 If indicator LED is on than the result

is +ve and when it is off then the result

is -ve.

What is a Line Follower Robot :

 Robot which follows a Line whether it is Curvy or Straight or

Divergence.

 We are going to make a machine which will follow a black line on

white background.

 If there is any divergence or any cross points in the path of the

machine then it will stop in such case.

 These type of case will be solved by the Intelligent Line Follower.

 We are using the AVR ATMega16 Microcontroller to build this Robot.

Components Required :

1. Development Board – 1 No.

2. Caster Wheel – 2 No.

3. IR Sensor Kit – 2 No.

4. Battery – 6 Volt

5. Wheel Clamps – 2 No.

6. Geared Motors – 2 No.

7. Connecting Chords as required.

Working of Line Follower

Left Sensor
Right Sensor

If left sensor detect the light surface and right sensor detect dark surface then the
robot will turn right.

Left Sensor Right Sensor

If left sensor detect the dark surface and right sensor detect light surface then the
robot will turn left.

Working of Simple Line Follower

How to Program a Robot …

Required Software :
Operating System : Windows XP, Vista, Windows 7
Tools : AVR Studio. (Current versions has AVR-GCC plug-in to write code in C)
Compiler : IAR, Image Craft , Code Vision AVR, Win AVR
Loader : AVR Loader by Robosapiens India

Required Hardware :

 USB Programmer

 Connecting Cord

1. Synthetic Aperture Radar (SAR) Antenna
2. Inertial Navigation System/GPS
3. Ku-Band Satellite Communications Antenna
4. Video Cassette Recorder
5. GPS Antennas (Left and Right)
6. APX-100 Identification Friend or Foe Transponder
7. Ku-Band Satellite Communications Sensor Processor Modem Assembly
8. C-Band Upper Omni directional Antenna Bracket
9. Forward Fuel Cell Assembly
10. Aft Fuel Cell Assembly
11. Accessory Bay
12. Engine Cooling Fan
13. Oil Cooler/Radiator
14. 914F Engine

15. Tail Servo (Left and Right)
16. Battery Assembly #2
17. Power Supply
18. Battery Assembly #1
19. Aft Equipment Bay Tray
20. Secondary Control Module
21. Synthetic Aperture Radar Processor/AGM-114 Electronics Assembly
22. Primary Control Module
23. Front Bay Avionics Tray
24. ARC-210 Receiver/Transmitter
25. Flight Sensor Unit
26. Video Encoder
27. De-ice Controller
28. Electro-Optical/Infrared Sensor/AN/AAS-52(V)1 Electronics Assembly
29. Front Bay Payload Tray
30. Ice Detector
31. Synthetic Aperture Radar (SAR) Receiver/Transmitter
32. Nose Camera Assembly

An Introduction to Robotics and Embedded System

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An Introduction to Robotics and Embedded System